IAI America ERC2 - Manual (Page 144)

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8. Parameter Settings
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8. Parameter Settings
8.1 Parameter Table
Parameters are classified into four types according to their content.
Category: a: Parameter relating to the actuator stroke range
b: Parameter relating to the actuator operating characteristics
c: Parameter relating to the external interface
d: Servo gain adjustment
No. Category Name Unit Default factory setting
1 a Zone boundary 1+ mm Effective actuator length
2 a Zone boundary 1– mm Effective actuator length
3 a Soft limit+ mm Effective actuator length
4 a Soft limit– mm Effective actuator length
5 a
Home return direction
(0: [Reverse]/1: [Forward])
-
(In accordance with the specification at the time
of order)
6 b Push & hold stop judgment period msec 255
7 d Servo gain number -
Set individually in accordance with the actuator
characteristics.
8 b Default speed mm/sec Set individually in accordance with the actuator
characteristics.
9 b Default acceleration/deceleration G
Set individually in accordance with the actuator
characteristics.
10 b Default positioning band (in-position) mm 0.10
12 b
Current-limiting value at standstill during
positioning
%
Set individually in accordance with the actuator
characteristics.
13 b Current-limiting value during home return %
Set individually in accordance with the actuator
characteristics.
15 c
Pause input disable selection
(0: [Enable]/1: [Disable])
- 0 [Enable]
16 c SIO communication speed bps 38400
17 c
Minimum delay time for slave transmitter
activation
msec 5
22 a Home return offset mm
Set individually in accordance with the actuator
characteristics.
25 c PIO pattern selection - 0 (8 points)
27 c Movement command type (0: [Level]/1: [Edge]) - 0 [Level]
28 b
Default direction of excited-phase signal
detection (0: [Reverse]/1: [Forward])
-
Set individually in accordance with the actuator
characteristics.
29 b
Excited-phase signal detection time
msec
Set individually in accordance with the actuator
characteristics.
31 d
Speed loop proportional gain
-
Set individually in accordance with the actuator
characteristics.
32 d
Speed loop integral gain
-
Set individually in accordance with the actuator
characteristics.
33 d
Torque filter time constant
-
Set individually in accordance with the actuator
characteristics.
34 b
Push speed
mm/sec
Set individually in accordance with the actuator
characteristics.
35 b Safety speed mm/sec 100
36 b Automatic servo-off delay time 1 sec 0
37 b Automatic servo-off delay time 2 sec 0
38 b Automatic servo-off delay time 3 sec 0
39 c
Output mode of position complete signal
(0: [PEND]/1: [INP])
- 0 [PEND]
40 c
Home-return input disable selection
(0: [Enable]/1: [Disable])
- 0 [Enable]
45 c Silent interval multiplication factor times 0 (Multiplication factor is not applied)
46 b Speed override % 100
53 b Default standstill mode - 0 [Complete stop]
(Note) The numbers are displayed in the PC software, but not on the teaching pendant.
Skipped numbers are not used and therefore omitted.
The classification codes are provided for the sake of convenience and are not displayed either in the PC
software or on the teaching pendant.